EP0270635B1 - Kreiselstabilisierte schwenkvorrichtung - Google Patents

Kreiselstabilisierte schwenkvorrichtung Download PDF

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Publication number
EP0270635B1
EP0270635B1 EP87903999A EP87903999A EP0270635B1 EP 0270635 B1 EP0270635 B1 EP 0270635B1 EP 87903999 A EP87903999 A EP 87903999A EP 87903999 A EP87903999 A EP 87903999A EP 0270635 B1 EP0270635 B1 EP 0270635B1
Authority
EP
European Patent Office
Prior art keywords
radiation
ball
seat
gyro
lobe
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired
Application number
EP87903999A
Other languages
English (en)
French (fr)
Other versions
EP0270635A1 (de
Inventor
Alf Eric Christer Engding
Anders Fredrik Astrom
Lars Johan Schleimann-Jensen
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
NobelTech Electronics AB
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NobelTech Electronics AB
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by NobelTech Electronics AB filed Critical NobelTech Electronics AB
Publication of EP0270635A1 publication Critical patent/EP0270635A1/de
Application granted granted Critical
Publication of EP0270635B1 publication Critical patent/EP0270635B1/de
Expired legal-status Critical Current

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Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41—WEAPONS
    • F41G—WEAPON SIGHTS; AIMING
    • F41G7/00—Direction control systems for self-propelled missiles
    • F41G7/20—Direction control systems for self-propelled missiles based on continuous observation of target position
    • F41G7/22—Homing guidance systems
    • F41G7/2253—Passive homing systems, i.e. comprising a receiver and do not requiring an active illumination of the target
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B26/00—Optical devices or arrangements for the control of light using movable or deformable optical elements
    • G02B26/08—Optical devices or arrangements for the control of light using movable or deformable optical elements for controlling the direction of light
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41—WEAPONS
    • F41G—WEAPON SIGHTS; AIMING
    • F41G7/00—Direction control systems for self-propelled missiles
    • F41G7/20—Direction control systems for self-propelled missiles based on continuous observation of target position
    • F41G7/22—Homing guidance systems
    • F41G7/2213—Homing guidance systems maintaining the axis of an orientable seeking head pointed at the target, e.g. target seeking gyro
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41—WEAPONS
    • F41G—WEAPON SIGHTS; AIMING
    • F41G7/00—Direction control systems for self-propelled missiles
    • F41G7/20—Direction control systems for self-propelled missiles based on continuous observation of target position
    • F41G7/22—Homing guidance systems
    • F41G7/2273—Homing guidance systems characterised by the type of waves
    • F41G7/2293—Homing guidance systems characterised by the type of waves using electromagnetic waves other than radio waves

Definitions

  • the invention relates to a gyrostabilized deflection device according to the preamble of Claim 1.
  • FIG. 3 and 4 thereof disclose a gyro stabilazed target seeker for use in missiles.
  • a movable part of an optical deflection system comprising a spherical element 42 is decoupled from the spin rotation by a bearing 15 and is tiltable around a first axis YG of a cardanic suspension and also around a second orthogonal tilt axis XS which is fixed to a stationary part of the housing of the missile.
  • the stationary part carries a fixed element 41 of the optical deflection system having a spherical recess into which the movable element is fitted.
  • the movable deflection body has in this case a reflecting plane surface or mirror adapted to reflect outgoing or incoming electromagnetic energy from/to a transmmitter and/or receiver.
  • the said body is adapted to cooperate with a two-axes magnetic torque generator, which can transfer torques to the body about two mutually and relative to the spin axis perpendicular axes.
  • the said deflection body By its rotation about the spin axis the said deflection body at the same time serves as a gyrostabilized platform.
  • Such a gyro stabilized platform used as deflection device for outgoing or incoming radiation can be utilized in many applications.
  • One application is that mentioned in the said patent, namely as a gyrostabilized platform in target seekers for projectiles.
  • Another application is anti-aircraft sights mounted on guns and also other types of sights.
  • outgoing and/or incoming radiation shall be fixed in space for small angular movements of the envelope, in which the device is mounted.
  • the aim with the invention is to solve these problems by means of a device, which is more simple as to its mechanical construction and which is less bulky as compared with that described in the patent SE 8502509-6.
  • the deflection body shaped as a gyro rotor will serve as a so called two-axes gyroscope, in which the rotor besides its spin rotation is free to make angular motions about two mutually and relative to the spin axis perpendicular axes.
  • the rotor tends to maintain its angular setting in a space fixed coordinate system independently of small angular motions of the envelope supporting the rotor.
  • the rotor now according to the invention is used as a diffraction prism in a deflection device for a radiation beam and it has been ensured that, when the envelope makes small angular motions relative to the space fixed rotor, the outgoing or incoming beam makes exactly the same angular motion relative to the envelope as that between envelope and rotor it is easy to see that hereby a radiation lobe or sensitivity lobe is obtained, which is stabilized in space for small angular motions of the envelope. If the device is included in a target seeker for projectiles, thus, the radiation or sensitivity lobe of the target seeker will be fixed in space in spite of the fact that the projectile tumbles.
  • the said 1:1 ratio can then be ensured thereby that the deflection device is combined with a lens system having a suitable diffraction.
  • the radiation or sensitivity lobe is always in parallel with the spin axis.
  • a similar device shaped as an adjustable optical prism and used as scanner in a target seeker for projectiles is previously known by US 4 436 260.
  • the deflection body is not imparted any spin rotation and the device has only for its purpose to deflect a radiation beam.
  • This device cannot be used for stabilizing a radiation lobe in space.
  • the deflection device according to the invention operating with transmission of radiation has many advantages as compared with a similar device operating with reflection.
  • the radiation path can be made symmetrical, which may be difficult or impossible to achieve in the reflecting embodiment. In certain applications such a symmetry is a requirement.
  • the deflection device and transmitter/receiver can be placed in line after each other the mechanical construction will be maximally simple and of minimal volume.
  • the space stabilizing effect relies upon that no precession torques are transferred to the rotor. This can be achieved under continuous driving of the rotor by using a spin drive, which does not produce any such torques. In a simplier embodiment, involving smaller demands on the quality of the spin drive, this drive of the rotor can be disconnectable.
  • a preferred embodiment of the device according to the invention is furthermore provided with torque generators, which are able to transfer turning torques to the deflection body about two mutually and relative to the spin axis perpendicular axes.
  • reference numeral 10 designates a projectile envelope
  • 11 is a gyro stabilized deflection device according to the invention, fixedly mounted in the envelope and comprising a converging lens 12 also mounted in the envelope
  • 13 is a transmitter/receiver.
  • the centrum axis C of the projectile forms at the same time centrum axis for the deflection device and lens.
  • the deflection device can be included as a gyrostabilized platform in a target seeker, which for example operates with electromagnetic energy in the millimeter wavelength range.
  • the deflection device consists of a part 14 fixedly mounted in the envelope 10 and having a spherical recess 15, in which a movable deflection body 16 with spherical outer contour 17, or ball, is introduced.
  • the fixed part 14 is in the shown example composed by three parts: an outer circular cylindrical ring 18 of soft magnetic material, an intermediate part 19 of non-magnetic material and a central part 20 of a material having a suitable refractive index for the transmitted radiation.
  • the parts 19 and 20 are the elements provided with the said recess 15 and form together a housing or seat for the movable ball 16.
  • the ball 16 is in the shown example composed by two parts: an outer ring-shaped part 21 with a central recess 22 and a calotte-shaped part 23.
  • the incoming and outgoing radiation passes via the recess 22 in the ball 16 through the parts 23 and 20, which in combination form a diffraction prism or "optical wedge” for the radiation, and furthermore through the lens 12.
  • the central ray for such a radiation lobe is shown in the drawing and designated with L.
  • the ball 16 is free to move by a turning or rotational motion in all three rotational degrees of freedom in its recess 15.
  • the ball 16 is then so shaped that its point of gravity coincides with the rotational centrum for the said motions.
  • no torques will be transferred to the ball under acceleration and deceleration of the envelope, in which the device is mounted.
  • the fixed magnetic poles cooperate with a soft magnetic part 34 of the movable ball 16, which part 34 terminates in an equatorial ring 35 of soft magnetic material on the surface of the ball, which ball for the rest is made of non-magnetic material.
  • the outer circular cylindrical fixed ring 18 of soft magnetic material interconnects the outwardly facing ends of all magnetic poles with each other and will close all magnetic field paths.
  • the fixed part of the deflection device comprises an angle detector 36, which for example cooperates with an optical marking on the surface of the movable ball 16.
  • an air-gap 37 which is active as bearing for the ball.
  • the air-gap is maintained by continuous supply of compressed air to nozzles, which terminate in the said gap.
  • four such nozzles with supply channels are shown and designated with 38, 39, 40, 41.
  • the ball 16 is driven so as to make a rapid spin rotation about a spin axis 03.
  • the spin rotation can be produced by means of an electrical spin motor or by air driving.
  • the ball 16 is rotated about the spin axis 03 by means of oblique jets of air, produced by nozzles 42, 43 with supply channels and acting on the flat outside of the ball.
  • no precession torques will be transferred to the ball.
  • the ball 16 By its rotation about the spin axis 03 the ball 16 will form a gyro rotor, which as a result of its rotatability about the axes 01 and 02 is supported in a similar manner as in a two-axes gimbal support.
  • the central calotte shaped part 23 of this gyro rotor forms at the same time in combination with the central part 20 of the fixed seat 14 a variable diffraction prism for the transmitted radiation thereby that a plane surface 44, serving as input/output surface for the radiation, forms a variable angle with a plane surface 45 on the fixed part, which said last surface also serves an output/input surface for the radiation.
  • the transmitter/receiver 13 for the transmitted radiation is arranged in a straight line with the deflection device.
  • the direction for the outgoing and/or incoming radiation in the drawing represented by the central ray L' of the radiation lobe, can be set arbitrarily.
  • Decisive for how the direction of the radiation or sensitivity lobe varies with a variation of the angular setting of the rotor 16 about the axes 01 and 02 is then the refractive index for the materials of which the parts 23 and 20 included in the prism are made, in combination with the diffraction produced by the lens 12.
  • the refractive index for the parts 23 and 20, which suitably are made of the same material, is selected in such manner that the outgoing radiation or sensitivity lobe represened by L' is always parallel with the spin axis 03 of the rotor.
  • the lobe centrum line L' and the spin axis 03 both form an angle ⁇ with the projectile symmetry or centrum line C.
  • the gyro rotor 16 in absence of precession torques transmitted to the same tends to maintain a set position in space this will mean that the radiation lobe will be space stabilized for small angular motions of the envelope 10. From this own space reference the lobe can then be controlled in any desired manner by transferring torques to the gyro rotor via the two-axes electromagnetic torque generator.
  • the refractive index for the material, of which the parts 23 and 20 included in the diffraction prism are made can be selected in such manner that the prism alone gives rise to the desired 1:1 ratio between the angular change of the radiation or sensitivety lobe and the angular change of the spin axis of the rotor, the lens 12 will be superfluous and can be omitted. If a lens is required this lens may, instead of being made as a separate lens, be integrated with the deflection device thereby that the prism surface 44 or the surface 45 or both are given a concave or convexe shape.
  • the spin motor which also can be of electrical type, may be so constructed that it drives the gyro rotor to a home position and can furthermore be disconnectable, so that the rotor after disconnection rotates freely.

Landscapes

  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Combustion & Propulsion (AREA)
  • Chemical & Material Sciences (AREA)
  • Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Optics & Photonics (AREA)
  • General Physics & Mathematics (AREA)
  • Gyroscopes (AREA)
  • Optical Couplings Of Light Guides (AREA)
  • Aerials With Secondary Devices (AREA)
  • Aiming, Guidance, Guns With A Light Source, Armor, Camouflage, And Targets (AREA)
  • Mechanical Optical Scanning Systems (AREA)

Claims (4)

  1. Kreiselstabilisierte Ablenkvorrichtung, die im Übertragungsweg von/zu einer Sende-/Empfangseinrichtung für Schwingungsenergie, vorzugsweise elektromagnetischer Strahlung angeordnet ist, zum Übertragen und/oder Empfangen der Energie in einer gerichteten Strahlungs- oder Empfindlichkeitskeule (L') wobei die Vorrichtung in einer Hülle (10) befestigt ist, die bei Betrieb der Vorrichtung Bewegungen relativ zu raumfesten Referenzrichtungen ausgesetzt werden kann, und die Ablenkvorrichtung einen bewegbaren, kugelförmigen Ablenkkörper (16) umfaßt, der in einer Aussparung (15) eines fest mit der Hülle (10) verbundenen Sitzes (14) angeordnet ist, wobei mindestens ein zentraler, kalottenförmiger Teil (23) des kugelförmigen Körpers (16) und des Sitzes (20) transparent für Strahlung ist und sie zusammen ein einstellbares Brechungsprisma für die Strahlung bilden, und der Körper (16) eine einstellbare Prismaoberfläche (44) aufweist, die als Strahlungseintritts-/Austrittsfläche dient und der Sitz eine ortsfeste Prismaoberfläche (45) aufweist, die auch als Strahlungseintritts-/Austrittsfläche dient, und der Brechungskoeffizient der Materialien, aus denen der kugelförmige Körper und der Sitz hergestellt sind, ausgewählt werden, um sicherzustellen, daß eine Winkelveränderung der Spinachse (03) des kugelförmigen Körpers (16) des Kreiselrotors in einer entsprechenden Winkeländerung der Strahlungs- oder Empfindlichkeitskeule L' für aus- und/oder eintretende Strahlung resultiert,
    dadurch gekennzeichnet, daß der kugelförmige Ablenkkörper (16) ferner einen Kreiselmotor bildet, der durch ein Luftlager (37, 38, 39, 40, 41) in der Aussparung (15) getragen wird, so daß er in drei Rotationsfreiheitsgraden bewegbar ist, daß Mittel (42, 43) vorgesehen sind, um dem kugelförmigen Körper eine schnelle Kreiseldrehung umd die Spinachse (03) zu verleihen, die im wesentlichen mit der Richtung der übertragenen oder empfangenen Strahlung zusammenfällt, und daß ein Momentengenerator (24, 25, 26, 27; 28, 29, 30, 31; 34, 35, 18) vorgesehen ist, zum Übertragen von Drehmomenten um zwei gegenseitig und relativ zur Spinachse (03) im wesentlichen senkrechte Achsen (01, 02) auf den kugelförmigen Körper.
  2. Vorrichtung nach Anspruch 1,
    dadurch gekennzeichnet, daß die Vorrichtung mit einem Linsensystem (12) kombiniert ist, das eine derartige Brechung aufweist, daß es in Kombination mit der Ablenkvorrichtung das 1:1-Verhältnis zwischen einer Winkeländerung der Spinachse (03) des Kreiselrotors (16) und der resultierenden Winkeländerung der Strahlungs- oder Empfindlichkeitskeule L' für aus- oder eintretende Strahlung erzeugt.
  3. Vorrichtung nach Anspruch 1 oder 2,
    dadurch gekennzeichnet, daß die Strahlungs- oder die Empfindlichkeitskeule L' parallel zur Spinachse (03) des Kreiselrotors (16) ist.
  4. Vorrichtung nach den Ansprüchen 1 bis 3,
    dadurch gekennzeichnet, daß der kugelförmige und als Kreiselrotor dienende Ablenkkörper (16) aus mindestens zwei Teilen besteht, einem außenringförmigen Teil (21) mit einer zentralen Öffnung (22), durch die die Strahlung verläuft, und einem zentralen kalottenförmigen Teil (23), das den bewegbaren, einstellbaren Teil des Brechungsprismas bildet und eine Prismaoberfläche (44) aufweist, die als Eintritts-/Austrittsfläche dient.
EP87903999A 1986-06-03 1987-05-20 Kreiselstabilisierte schwenkvorrichtung Expired EP0270635B1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
SE8602506 1986-06-03
SE8602506A SE8602506D0 (sv) 1986-06-03 1986-06-03 Avlenkningsanordning

Publications (2)

Publication Number Publication Date
EP0270635A1 EP0270635A1 (de) 1988-06-15
EP0270635B1 true EP0270635B1 (de) 1992-12-23

Family

ID=20364713

Family Applications (1)

Application Number Title Priority Date Filing Date
EP87903999A Expired EP0270635B1 (de) 1986-06-03 1987-05-20 Kreiselstabilisierte schwenkvorrichtung

Country Status (6)

Country Link
US (1) US4879460A (de)
EP (1) EP0270635B1 (de)
JP (1) JP2607253B2 (de)
DE (1) DE3783222T2 (de)
SE (2) SE8602506D0 (de)
WO (1) WO1987007707A1 (de)

Families Citing this family (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE4022509A1 (de) * 1990-07-14 1992-01-16 Messerschmitt Boelkow Blohm Homokinetisches stellsystem
US5224109A (en) * 1991-07-02 1993-06-29 Ltv Missiles And Electronics Group Laser radar transceiver
JPH11149050A (ja) * 1997-11-15 1999-06-02 Canon Inc 光偏向装置
US6154302A (en) * 1997-11-15 2000-11-28 Canon Kabushiki Kaisha Light deflection device and array thereof
US7129601B2 (en) * 2001-03-30 2006-10-31 Gsi Group Corporation Apparatus for controlled movement of an element
US7136547B2 (en) * 2001-03-30 2006-11-14 Gsi Group Corporation Method and apparatus for beam deflection
US7679845B2 (en) * 2007-01-25 2010-03-16 Newport Corporation Adjustable/non-adjustable precision optical mounts
US9372340B2 (en) * 2014-05-01 2016-06-21 Raytheon Company Ball joint gimbal imaging system with an off-gimbal directional electro-optic component
US9442185B2 (en) * 2014-05-01 2016-09-13 Raytheon Company Non-contacting electro-magnetic spherical planar motor providing 3-axis control of a ball joint gimbal mounted electro-optic system

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4009393A (en) * 1967-09-14 1977-02-22 General Dynamics Corporation Dual spectral range target tracking seeker
US4500051A (en) * 1972-10-06 1985-02-19 Texas Instruments Incorporated Gyro stabilized optics with fixed detector
US4039246A (en) * 1976-01-22 1977-08-02 General Dynamics Corporation Optical scanning apparatus with two mirrors rotatable about a common axis
US4030807A (en) * 1976-02-09 1977-06-21 General Dynamics Corporation Optical scanning system with canted and tilted reflectors
DE2923547C2 (de) * 1979-06-09 1981-04-09 Bodenseewerk Gerätetechnik GmbH, 7770 Überlingen Zielsuchvorrichtung für Flugkörper
US4436260A (en) * 1981-12-21 1984-03-13 The United States Of America As Represented By The Secretary Of The Air Force Optical scanner for use in confined areas
FR2548384B1 (fr) * 1983-06-14 1986-02-07 Thomson Csf Dispositif a imagerie video, notamment pour autodirecteur

Also Published As

Publication number Publication date
SE8602965L (sv) 1987-12-04
JP2607253B2 (ja) 1997-05-07
US4879460A (en) 1989-11-07
SE8602965D0 (sv) 1986-07-03
SE8602506D0 (sv) 1986-06-03
DE3783222D1 (de) 1993-02-04
DE3783222T2 (de) 1993-05-06
EP0270635A1 (de) 1988-06-15
WO1987007707A1 (en) 1987-12-17
JPH01500772A (ja) 1989-03-16

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